
@ARTICLE{Bloesch2016,
   author = {{Bloesch}, M. and {Sommer}, H. and {Laidlow}, T. and {Burri}, M. and 
	{Nuetzi}, G. and {Fankhauser}, P. and {Bellicoso}, D. and {Gehring}, C. and 
	{Leutenegger}, S. and {Hutter}, M. and {Siegwart}, R.},
    title = "{A Primer on the Differential Calculus of 3D Orientations}",
  journal = {ArXiv e-prints},
archivePrefix = "arXiv",
   eprint = {1606.05285},
 primaryClass = "cs.RO",
 keywords = {Computer Science - Robotics},
     year = 2016,
    month = jun,
   adsurl = {http://adsabs.harvard.edu/abs/2016arXiv160605285B},
  adsnote = {Provided by the SAO/NASA Astrophysics Data System}
}

@article{Iwamura2013,
author = {Iwamura, Makoto and Nagao, Masafumi},
doi = {10.1007/s11044-012-9334-7},
file = {:home/gech/ETH/LeggedRobotics/Literature/mechanics/Hessian.pdf:pdf},
issn = {13845640},
journal = {Multibody System Dynamics},
keywords = {Closed loop systems,Hessian tensor,Jacobian matrix,Multibody dynamics,Relative coordinates},
number = {2},
pages = {173--184},
title = {{A method for computing the Hessian tensor of loop closing conditions in multibody systems}},
volume = {30},
year = {2013}
}
